Hello,
The sender id should be the id of the ground station, but has it has
no effect for now, so it's not your problem.
The SET_ACTUATOR message is only working if you run the firmware
"test_actuators" on your autopilot. It has no effect on the normal
autopilot (target "ap").
Gautier
On 12/01/2012 15:17, Jochen Rieger wrote:
Hello, i want to understand the massage protocol. An
example should be set servo massage.
In message.xml file is written:
<message name="SET_ACTUATOR" id="100" link="forwarded">
<field name="value" type="uint16"/>
<field name="no" type="uint8"/>
<field name="ac_id" type="uint8"/>
</message>
Its meaning set servos, or isnt?
Next, was to define a massage:
99 0B 01 64 07 03 B6 01 01 27 AC
A PPRZ_STX 99
B lenght A->E 0B = 11
C PPRZ_Data:
0 Sender_ID 01 =aircraft id = 1
1 Msg ID 0x64 =100= massage id for
set_actuator
2 MSG Payload 07 = 7
3 Data:
a Value 03 B6 = 950 (PWM)
b No 01 = second servoconnector has
number 1
c ac_id 01 = sender_id???
D Checksum A (sum[B->C]) = 27
E Checksum B (sum[ck_a]) = AC
Pprz frame:
*
* |STX|length|... payload=(length-4) bytes ...|Checksum
A|Checksum B|
where checksum is computed over length and payload:
* ck_A = ck_B = length
* for each byte b in payload
* ck_A += b; ck_b += ck_A
ck_a = ck_b = 11
b=1
ck_a= 12
ck_b= 23
b = 2
ck_a=14
ck_b=37
b= 3
ck_a=17
ck_b=54
b=4
ck_a=21
ck_b=75
b=5
ck_a=26
ck_b=101
b=6
ck_a=32
ck_b=133
b=7
ck_a=39
ck_b=172
Is there a mistake or complete false?
I have send this massage over gtkterm....but the elevator servo do
not react.
Do i need define massages in my telemetry .xml file? I use
default_fixedwing_imu.xml.
Thanks for any help.
Best regards.
Jochen
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